Mechatronic models for simulation and model based control of the walking machine ALDURO

The system under investigation is the hydraulically driven autonomous large scale combined legged and wheeled vehicle ALDURO. In this paper two complete mechatronic simulation models, realized in the object-oriented programming language C++, are presented. Both contain the mechanical system including an explicit solution of the kinematic loops. The first model is used as a basis for a model based motion control of the walking machine. The second, more detailed model, also includes a model of the ground contact and the dynamics of the complete hydraulic system. It is used to test the model based controller